d2888f0884
fix tray/tray_textured4.obj and tray/tray.urdf fix kuka_with_cube.py allow both IK /end-effector control and joint-space control in kuka environment, use 1./240. sec. step and 150 solver iter bump up pybullet to 1.1.7
124 lines
5.1 KiB
Python
124 lines
5.1 KiB
Python
import pybullet as p
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import numpy as np
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import copy
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import math
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class Kuka:
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def __init__(self, urdfRootPath='', timeStep=0.01):
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self.urdfRootPath = urdfRootPath
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self.timeStep = timeStep
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self.reset()
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self.maxForce = 90
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self.fingerAForce = 12
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self.fingerBForce = 10
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self.fingerTipForce = 3
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self.useInverseKinematics = 1
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self.useSimulation = 1
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self.useNullSpace = 1
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self.useOrientation = 1
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self.kukaEndEffectorIndex = 6
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#lower limits for null space
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self.ll=[-.967,-2 ,-2.96,0.19,-2.96,-2.09,-3.05]
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#upper limits for null space
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self.ul=[.967,2 ,2.96,2.29,2.96,2.09,3.05]
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#joint ranges for null space
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self.jr=[5.8,4,5.8,4,5.8,4,6]
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#restposes for null space
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self.rp=[0,0,0,0.5*math.pi,0,-math.pi*0.5*0.66,0]
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#joint damping coefficents
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self.jd=[0.1,0.1,0.1,0.1,0.1,0.1,0.1]
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def reset(self):
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objects = p.loadSDF("kuka_iiwa/kuka_with_gripper2.sdf")
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self.kukaUid = objects[0]
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for i in range (p.getNumJoints(self.kukaUid)):
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print(p.getJointInfo(self.kukaUid,i))
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p.resetBasePositionAndOrientation(self.kukaUid,[-0.100000,0.000000,0.070000],[0.000000,0.000000,0.000000,1.000000])
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self.jointPositions=[ -0.196884, 0.857586, -0.023543, -1.664977, 0.030403, 0.624786, -0.232294, 0.000000, -0.296450, 0.000000, 0.100002, 0.284399, 0.000000, -0.099999 ]
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self.numJoints = p.getNumJoints(self.kukaUid)
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for jointIndex in range (self.numJoints):
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p.resetJointState(self.kukaUid,jointIndex,self.jointPositions[jointIndex])
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self.trayUid = p.loadURDF("tray/tray.urdf", 0.640000,0.075000,-0.190000,0.000000,0.000000,1.000000,0.000000)
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self.blockUid =p.loadURDF("block.urdf", 0.604746,0.080626,-0.180069,0.000050,-0.000859,-0.824149,0.566372)
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p.loadURDF("table/table.urdf", 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0)
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self.motorNames = []
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self.motorIndices = []
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for i in range (self.numJoints):
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jointInfo = p.getJointInfo(self.kukaUid,i)
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qIndex = jointInfo[3]
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if qIndex > -1:
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#print("motorname")
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#print(jointInfo[1])
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self.motorNames.append(str(jointInfo[1]))
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self.motorIndices.append(i)
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def getActionDimension(self):
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if (self.useInverseKinematics):
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return len(self.motorIndices)
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return 6 #position x,y,z and roll/pitch/yaw euler angles of end effector
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def getObservationDimension(self):
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return len(self.getObservation())
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def getObservation(self):
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observation = []
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pos,orn=p.getBasePositionAndOrientation(self.blockUid)
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observation.extend(list(pos))
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observation.extend(list(orn))
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return observation
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def applyAction(self, motorCommands):
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#print ("self.numJoints")
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#print (self.numJoints)
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if (self.useInverseKinematics):
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pos = [motorCommands[0],motorCommands[1],motorCommands[2]]
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yaw = motorCommands[3]
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fingerAngle = motorCommands[4]
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#roll = motorCommands[5]
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orn = p.getQuaternionFromEuler([0,-math.pi,0]) # -math.pi,yaw])
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if (self.useNullSpace==1):
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if (self.useOrientation==1):
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jointPoses = p.calculateInverseKinematics(self.kukaUid,self.kukaEndEffectorIndex,pos,orn,self.ll,self.ul,self.jr,self.rp)
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else:
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jointPoses = p.calculateInverseKinematics(self.kukaUid,self.kukaEndEffectorIndex,pos,lowerLimits=self.ll, upperLimits=self.ul, jointRanges=self.jr, restPoses=self.rp)
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else:
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if (self.useOrientation==1):
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jointPoses = p.calculateInverseKinematics(self.kukaUid,self.kukaEndEffectorIndex,pos,orn,jointDamping=self.jd)
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else:
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jointPoses = p.calculateInverseKinematics(self.kukaUid,self.kukaEndEffectorIndex,pos)
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#print("jointPoses")
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#print(jointPoses)
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#print("self.kukaEndEffectorIndex")
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#print(self.kukaEndEffectorIndex)
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if (self.useSimulation):
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for i in range (self.kukaEndEffectorIndex+1):
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#print(i)
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p.setJointMotorControl2(bodyIndex=self.kukaUid,jointIndex=i,controlMode=p.POSITION_CONTROL,targetPosition=jointPoses[i],targetVelocity=0,force=self.maxForce,positionGain=0.03,velocityGain=1)
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else:
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#reset the joint state (ignoring all dynamics, not recommended to use during simulation)
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for i in range (self.numJoints):
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p.resetJointState(self.kukaUid,i,jointPoses[i])
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#fingers
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p.setJointMotorControl2(self.kukaUid,7,p.POSITION_CONTROL,targetPosition=yaw,force=self.maxForce)
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p.setJointMotorControl2(self.kukaUid,8,p.POSITION_CONTROL,targetPosition=-fingerAngle,force=self.fingerAForce)
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p.setJointMotorControl2(self.kukaUid,11,p.POSITION_CONTROL,targetPosition=fingerAngle,force=self.fingerBForce)
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p.setJointMotorControl2(self.kukaUid,10,p.POSITION_CONTROL,targetPosition=0,force=self.fingerTipForce)
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p.setJointMotorControl2(self.kukaUid,13,p.POSITION_CONTROL,targetPosition=0,force=self.fingerTipForce)
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else:
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for action in range (len(motorCommands)):
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motor = self.motorIndices[action]
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p.setJointMotorControl2(self.kukaUid,motor,p.POSITION_CONTROL,targetPosition=motorCommands[action],force=self.maxForce)
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